ES2935066T3 - Articulated arm to suspend an X-ray head - Google Patents

Abstract

An articulated arm for suspending an X-ray head from a support section in a radiographic imaging apparatus comprising two separate link pairs attached to an intermediate link in which the proximal end of the first link pair is connected to the section of support and the distal end of the second pair of links is connected to the X-ray head, and further where the links in the first pair of links are parallel and rotatable about the connection to the support section, the links in the second pair of links are parallel and rotatable about the intermediate link, and so the rotational orientation of an X-ray head mount about an axis that is parallel to the axes about which the first pair of links is rotatable remains constant. when the first pair of links rotates with respect to the support section and/or the second pair of links rotates with respect to the intermediate link. (Automatic translation with Google Translate, without legal value)

Description

DESCRIPTION

Articulated arm to suspend an X-ray head

field of invention

The present invention relates, inter alia, to a medical apparatus and components of the apparatus. The invention has particular application in mobile devices and/or radiographic imaging devices, including X-ray devices.

Background

Currently in the art, radiographic imaging apparatus that is intended to be "portable", including, in particular, mobile X-ray apparatus, are generally cumbersome and heavy (typically weighing hundreds of kilograms).

JP2000333940 describes a medical imaging device comprising a first arm provided with a third arm oscillating about a horizontal axis, wherein the third arm is connected to a second arm by connecting rods.

Other examples are described in JPH0626805, US2036097, GB786636, US4166602, US3025401 and US1600867.

It is desirable in the art to provide a portable radiographic imaging apparatus, as well as components for such apparatus, that is relatively lightweight, easy to handle, safe, and reliable.

Summary of the invention

According to a first aspect of the present invention, there is provided a radiographic imaging apparatus comprising an articulated arm for suspending an X-ray head from a support section in a radiographic imaging apparatus, as defined in claim 1 attached.

The articulated arm comprises:

a proximal arm section comprising a first proximal link and a second proximal link, a proximal end of each of which is connected or connectable to the support section in such a way that the first and second proximal links are pivotable, in relation to the support section, about respective axes which are parallel;

an intermediate link to which a distal end of each of the first and second proximal links is connected, such that the intermediate link is rotatable, relative to the first and second elongate links about respective axes that are parallel to the axes around of which the proximal links are pivotable;

a distal arm section comprising a first distal link and a second distal link a proximal end of each of the

which is connected to the intermediate link such that the first and second distal links are rotatable, relative to the intermediate link, about respective axes that are parallel to the axes about which the proximal links rotate, one being connected or connectable distal end of each of the distal links to the X-ray head, through a bracket, such that the bracket is pivotable, relative to the first and second distal links, about respective axes that are parallel to the axes around of which the proximal links are pivoting,

whereby, a rotational orientation of the bracket about an axis that is parallel to the axes about which the proximal links can pivot remains constant when the proximal arm section pivots or rotates with respect to the bracket section and/or the arm section. distal arm section pivots or rotates relative to the intermediate link on the apparatus.

Preferably, the arm is configured such that the proximal links remain parallel when the proximal arm section pivots or rotates relative to the support section, and the distal links remain parallel when the distal arm section pivots or rotates relative to the support section. intermediate link.

Preferably, the distal ends of the proximal links are connected to a proximal end of the intermediate link, and the proximal ends of the distal link are connected to a distal end of the intermediate link, such that:

the intermediate link is pivotable or rotatable with respect to the proximal arm section between a first position, with respect to the proximal arm section, in which an axis extending from the proximal end of the intermediate link to a distal end of the intermediate link ("the intermediate link axis") extends transverse to a longitudinal axis of the proximal arm section, and a second position, relative to the proximal arm section, in which the intermediate link axis extends generally parallel or in general alignment with the longitudinal axis of the proximal section of the arm; and

The distal arm section can pivot or rotate relative to the intermediate link between a first position, relative to the intermediate link, in which a longitudinal axis of the distal arm section extends transverse to the axis of the intermediate link, and a second position, relative to the intermediate link, in which the longitudinal axis of the distal arm section extends generally parallel to, or in general alignment with, the axis of the intermediate link,

With which:

when the intermediate link and the distal arm section assume their first positions, the arm assumes a fully collapsed condition in which the proximal and distal arm sections are positioned in a generally side-by-side relationship; and

When the intermediate link and the distal arm section assume their second positions, the arm assumes a fully extended condition in which the proximal and distal arm sections are positioned in generally coaxial relationship.

The bracket is connected to the distal ends of the distal links.

The support section is configured to rest on a flat floor surface, the apparatus being configured such that the axes about which the proximal links pivot are parallel to the flat floor surface when the support section is so supported.

Preferably, the apparatus includes ground-engaging wheels through which the support structure can be supported on the ground surface.

Preferably, the apparatus is an X-ray cart or trolley.

The bracket is configured to allow rotation of the head relative to the distal ends of the distal links about an axis that is perpendicular to the axes about which the proximal links can pivot and parallel to the ground surface when sectioned. support is resting on the ground surface. Preferably, the bracket is configured to allow pivoting of the head with respect to the distal ends of the distal links about an axis that is parallel to the axes about which the proximal links are pivotable.

In another example, the apparatus comprises:

ground contact wheels;

a braking system arranged to brake at least one of the wheels; and

a grip,

wherein the handle is configured with at least one actuator arranged so that it can be engaged by a hand of the person holding the handle to disconnect the braking system, whereby the person can maneuver the apparatus on the ground through from the grip with said hand. Preferably, the apparatus comprises, in addition to said handle ("the first handle"), an additional handle ("the second handle"), the second handle being arranged so that it can be grasped by the other hand of the person, for that the person can maneuver the apparatus on the ground through the first and second handles simultaneously.

Preferably, the second handle is configured with at least one actuator arranged so that it can be engaged by said other hand to disengage the braking system, whereby the person can maneuver the device on the ground through the second handle with said other hand.

Preferably, the or each handle is configured in the form of a knob.

Preferably, the or each handle is substantially ball-shaped.

Preferably, the or each actuator of the or each handle configured with at least one actuator comprises a button.

Preferably, said actuator of the handle or of each handle configured with at least said actuator is engageable with the palm of the hand that grips that handle.

Preferably, the or each palm-engageable actuator extends substantially through at least one arc, the or each arc being oriented to follow a respective arc of the hand gripping that grip.

In another example, the or each palm-engageable actuator extends substantially through an arc oriented to follow a transverse arc of the hand gripping the grip configured with that actuator, the arc preferably subtending an angle of at least about 90 degrees. the arc more preferably subtending an angle of between about 90 degrees and about 150 degrees, the arc most preferably subtending an angle of about 120 degrees.

In another example, the or each palm-engageable actuator extends substantially through an arc oriented to follow the proximal transverse arc of the hand gripping the grip configured with that actuator, the arc preferably subtending an angle of at least about 75 degrees, the arc more preferably subtending an angle of between about 75 degrees and about 165 degrees, the arc most preferably subtending an angle of about 120 degrees.

Preferably, the or each palm-engageable actuator extends substantially through an arc oriented to follow the distal transverse arc of the hand gripping the grip configured with that actuator.

In another example, the or each palm-engageable actuator extends substantially through an arc oriented to follow the longitudinal arc of the hand gripping the grip configured with that actuator, the arc preferably subtending an angle of at least about 75 degrees. the arc more preferably subtending an angle of between about 75 degrees and about 165 degrees, the arc most preferably subtending an angle of about 120 degrees.

Preferably, said actuator of the handle or of each handle configured with at least said actuator is engageable by at least one finger of the hand that grips that handle.

Preferably, the or each finger-engageable actuator is engageable by at least one finger of the hand gripping the handle configured with that actuator.

Preferably, the or each finger-engageable actuator is engageable by the tip of at least one finger of the hand gripping the handle configured with that actuator.

Preferably, the or each finger-engageable actuator is engageable by the tip pad of at least one finger of the hand gripping the handle configured with that actuator.

Preferably, the or each finger-engageable actuator is oriented to extend transversely to the fingers of the hand gripping the handle configured with that actuator, so that it can be engaged by a plurality of fingers of that hand.

In another example, the or each finger-engageable actuator extends substantially through an arc so that it can be engaged by said plurality of fingers, the arc preferably subtending an angle of at least about 45 degrees, the arc more preferably subtending an angle of between about 45 degrees and about 95 degrees, the arc subtending more preferably an angle of about 70 degrees.

Preferably, the or each handle configured with at least one actuator is configured with said opposite actuators.

Preferably, the or each handle configured with at least one actuator is attached to the remainder of the apparatus at a lower portion of that handle.

Preferably, the or each handle configured with at least one actuator is arranged at one end of a respective handle of the apparatus. Preferably, the or each handle comprises an arm projecting upwards at an upper end to which the respective grip is attached.

Preferably, the or each handle is arranged at the rear of the apparatus such that the person at said rear can push the apparatus forward on the ground and push the handle or handles with either or each of their hands. coupled to at least one of said actuators.

As an example, the X-ray head includes:

a main body including a radiation source;

a collimator operable to adjust the size of an aperture in the main body, and thus one or more transverse dimensions of a beam of radiation emitted from the main body section, along an axis, to form images of a subject; and

a pair of handles, the handles being separated and projecting from the main body in one direction substantially parallel to the axis, the handles being grippable by the respective hands of an operator, whereby the component can be manipulated to direct the beam,

wherein one or each of the handles is configured with a manually operable adjuster to effect adjustment of the aperture size.

Preferably, the handles are configured in the form of fangs.

Preferably, the main body includes a window arranged so that said beam is emitted through it and the handles are arranged on opposite lateral sides of the window.

Preferably, each handle is configured with said adjuster, and wherein the adjusters are operable to adjust respective aperture dimensions that are mutually perpendicular.

Preferably, the or each adjuster is disposed at a distal end of the handle that is configured therewith. Preferably, the or each adjuster is rotatable to effect adjustment of the size of the opening.

Preferably, the or each adjuster is rotatable about a longitudinal axis of the handle configured therewith, to effect adjustment of the size of the opening.

Preferably, the handles are arranged so that their distal ends lie in a plane that is orthogonal to said axis and separated from a focal point of the radiation source by at least a predetermined distance.

Preferably, the pair of handles is supported from the main body in a way that allows the pair to rotate about an axis that is parallel to the beam axis, whereby the pair of handles can be rotated to effect orientation adjustment. rotation of the opening about the axis of rotation.

Preferably, the x-ray head includes a light source arranged to emit light through the aperture such that a beam of light resulting from the aperture, when incident on a surface facing away from the component and facing the aperture, illuminates an area of the surface on or into which said imaging is effected, and any or each handle is configured with a manually actuatable switch to turn the light source on and/or off. Preferably, the or each switch is disposed at a distal end of the handle configured therewith.

As another example, the apparatus includes:

a body section;

wheels attached to the ground arranged to support the body section on the ground surface and which allow the apparatus to be maneuvered on the surface;

said X-ray head;

said arm rotatably connected at a proximal end thereof to the body section, so as to be supported by the body section and rotatable with respect to the body section about a vertical axis, and to a distal end of which said X-ray head is connected to be supported from the support structure via said arm at a position that is radially offset from the axis in a first direction; and

a generator assembly disposed in the body section, the assembly including a generator disposed in the housing and electrically connected to said component for generating energy from radiation by the component,

the apparatus being configured such that the generator set rotates with the arm, around said vertical axis, during the rotation of the arm,

wherein the generator set has a center of mass that is radially displaced from said axis in a second direction that is substantially opposite to said first direction, to counteract a moment exerted on the body section by said arm and said component.

Preferably, the generator includes an oil tank having a center of mass that is radially offset from said axis in said second direction.

Preferably, the generator set includes an outer casing in which the generator is housed. Preferably, the apparatus includes wiring and/or other components housed in said casing.

Preferably, the generator set is housed in the body section.

Preferably, the proximal end of the arm is connected to the generator assembly in a manner that allows rotation of the assembly with the arm during rotation of the arm. Preferably, the generator assembly hangs or is dependent on the proximal end of the arm.

Preferably, the apparatus includes a slewing bearing having a fixed part mounted to the body section and a rotatable part to which the arm is mounted to be able to rotate about said axis, and the generator set is coupled to said rotating part of the body. so that most or all of the weight of the generator set is transferred through the slewing bearing to the body section.

Preferably, the X-ray head comprises:

a support section;

a radiation source supported by the support section;

a collimator operable to adjust the size of a component aperture and therefore one or more cross-sectional dimensions of a beam of radiation emitted from the head to image a subject; and

a backscatter shield that is made of a composite material comprising tungsten powder and a polymeric binder, and arranged to absorb radiation from the source that is reflected by the collimator,

the collimator being supported from the support section through the shield.

Preferably the shield is molded from said material.

Preferably, the shield is injection molded from said material.

Preferably the shield is formed as a single piece. Preferably, the screen comprises a side wall that delimits the interior of the screen and is formed with an opening therethrough to admit, inside, visible light from a light source of the X-ray head to illuminate a subject on a subject. target site where the apparatus is to take a radiographic image. Preferably, a mirror is supported from the side wall in said interior to direct said light towards the collimator.

Preferably, the shield comprises a side wall, which limits an interior of the shield, and a mounting flange, at one end of said side wall, on which said collimator can be mounted to be supported from the support section through the shield. .

Preferably, the shield includes reinforcements which extend between the side wall and the flange to hold the flange when the collimator is mounted thereon to be supported from the support section through the shield.

Preferably, the shield includes a side wall, which delimits the interior of the shield, and a mounting flange, at one end of said side wall, through which said shield can be mounted to the support section so that the collimator it is supported from the support section through the shield.

The apparatus according to another example includes a retainer for the wiring of the apparatus, the wiring extending from a first component of the apparatus to a second component of the apparatus, one of the components being rotatable with respect to the other about an axis, the retainer comprising :

a first part attached to the first component, the first part having a circumferential wall portion which is centered on said axis; and

a second part that is attached to the second component, the second part having a circumferential wall portion that has a larger diameter than the circumferential wall portion of the first part and is centered on said axis,

the first and second parts being configured in such a way as to define an annular casing having internal and external walls radially defined by the circumferential wall portions of the first and second parts, respectively, the annular casing holding a section of wiring extending between the first and second parts, such that a radially outer end of said section is fixed with respect to said radially outer wall and a radially inner end of said section is fixed with respect to said radially inner wall and there is a bend in said section at a position between its extremes,

the retainer further comprising a guide having radially circumferential inner and outer walls and being configured with a passage opening through the radially inner and outer walls of the guide, the guide configured to occupy the housing so as to be rotatable in it about said axis and in such a way that:

a radially outer channel is defined between the radially outer walls of the casing and the guide and holds a portion of said section that is between the radially outer end of the section and the elbow ("the radially outward portion"), for example, in a manner that prevents buckling of that portion;

a radially internal channel is defined between the radially internal walls of the housing and the guide and holds a part of said section that is between the elbow and the radially internal end of the section ("the radially internal portion"), for example, of manner that prevents buckling of that portion; and said curve extends through said passage,

With which:

rotation of said component relative to the other component in a direction of rotation about the axis forces curvature against the guide to effect rotation of the guide in said direction in the housing, so that said section moves against the guide, said radially inner portion is lengthened and said radially outer portion is shortened; and

rotation of said component relative to the other component in the opposite direction of rotation around the axis pushes the elbow against the guide to effect rotation of the guide in said other direction in the casing, so that said section moves against the guide , said radially inner portion is shortened and said radially outer portion is lengthened.

Preferably, the guide is configured to slide with respect to said section during the rotation of said component with respect to the other.

Preferably, said passage is configured in the form of a channel with a complementary configuration to the elbow.

In the retainer of another example, the guide comprises aligned convex and concave surface portions defining the side walls of the passage, the convex surface portion being arranged to abut a convex side of the curve, so that the thrust of the guide in a first of said directions of rotation, and the concave surface portion is arranged to abut a concave side of the curve, so as to bias the guide in a second of said directions of rotation.

Preferably, the retainer is configured in such a way that said axis is substantially vertical and said first part comprises a floor portion arranged to support said radially inner portion from below. Preferably, the retainer is configured in such a way that said axis is substantially vertical and said second part comprises a floor portion arranged to support said radially outer portion from below.

Preferably, the first and second parts are designed in such a way that the housing opens upwards. Preferably, the guide is formed separately from the first and second parts so that it can be removed from the housing. Preferably, the first and second parts are formed separately.

The guide is preferably of one-piece construction and is preferably moulded.

Preferably the first part is of one piece construction.

Preferably the first part is molded.

Preferably the second part is of one piece construction.

Preferably the second part is molded.

Preferably the guide is of a single piece construction.

Preferably the guide is molded.

Preferably, the first part is configured with an opening arranged so that a section of wiring extends through it, outside the casing, from the radially inner end of the section of wiring supported by the casing. Preferably, the opening with which the first part is configured passes through the circumferential wall portion of the first part.

Preferably, the second part is configured with an opening arranged in such a way that a section of wiring extends through it, towards the interior of the casing, to the radially outer end of the section of wiring supported by the casing.

In another example, a conduit or sleeve is provided over said section of wiring and configured to allow flexing of said section of wiring during rotation of said component relative to the other.

The conduit or sheath may be configured to flex with the wiring. The conduit or sheath thus configured may comprise a flexible tube.

The conduit or sheath may be hinged about axes parallel to the axis of rotation, to allow said bending of the cabling. The hinged conduit or sheath may comprise a chain conduit.

Preferably, the radially inner end of the wiring section is anchored to the first component and/or the radially outer end of the wiring section is anchored to the second component. In another example, the conduit or sheath is:

to anchor the radially inner end of the cable section to the first part, connected to the first component in a position adjacent to said end; I

to effect the anchoring of the radially outer end of the wiring section to the second part, connected to the first component in a position adjacent to that end.

In another example, the wiring is configured in the form of a strip, the opposite faces of which are aligned with said axis. Preferably, one component comprises a collimator and/or a backscatter shield of the apparatus and the other component includes the radiation source of the apparatus.

Preferably, one component includes said arm and a radiation source of said head, and the other component includes a body section of the apparatus to which a proximal end of the arm is connected such that the arm is rotatable with respect to the section. body about the axis of rotation.

Brief description of the drawings

The invention will now be described, by way of non-limiting example only, with reference to the attached drawings, in which:

Figure 1 is a rear perspective view of an X-ray cart in accordance with a preferred embodiment of the present invention;

Figure 2 is a side elevation view of the cart;

Fig. 3 is a rear perspective view showing a handle arrangement of the carriage, which arrangement is maneuverable for maneuvering the carriage;

Figure 4 is a side view showing a right handle of the handle arrangement;

Figure 5 is a front perspective view of the handle;

Figure 6 is a perspective view of the articulated arm assembly of the carriage;

Figure 7A is a perspective view showing details of the arm assembly (with parts of the assembly omitted for clarity);

Figure 7B is a linkage diagram/schematic showing a linkage, slack adjuster and damper arrangement of the arm assembly;

Figure 7C is a detail view showing part of what is shown in Figure 7A;

Figures 8A and 8B are side views showing details of the arm assembly in a first configuration (with parts of the assembly omitted for clarity);

Figures 9A and 9B are side views showing details of the arm assembly in a second configuration (parts of the assembly omitted for clarity);

Figure 10 is a perspective view showing an arrangement of links in the assembly, including an intermediate link, forming part of a folding elbow of the articulated arm, in a first condition (in which parts of the assembly are omitted for clarity). ;

Figure 11 is a side view of the arrangement shown in Figure 10, in a second condition (with parts of the assembly omitted for clarity);

Figure 12 is a front perspective view of an X-ray tube head of the carriage;

Figure 13 is a rear perspective view showing details of an X-ray source and collimator of the X-ray head (with the head housing removed);

Figure 14 is a top perspective view showing details of the collimator, a backscatter shield and an electrical cable holder, all of which are part of the tube head; Figure 15 is a side perspective view of the arrangement shown in Figure 14;

Figure 16 is a bottom perspective view of the tube head showing, among other things, the external features of the collimator;

Fig. 17 is a perspective view showing details of the collimator from below;

Figure 18 is a perspective view corresponding to that shown in Figure 17, but indicating configurations of collimator arms or rods;

Figure 19 is a perspective view showing details of the collimator from above and indicating configurations of other collimator arms or rods;

Figure 20 is a perspective side view showing details of the collimator, including fangs for adjusting the translation and rotation positions of the X-ray head, as well as the dimensions and rotational orientation of a collimator aperture;

Figure 21 is a perspective view of the backscatter shield from above;

Figure 22 is a perspective view of the backscatter shield from below;

Figure 23 is a perspective view of an assembly forming part of the carriage, the assembly comprising the arm, X-ray head, a yoke/mount, through which the head is mounted to the distal end of the arm so that can rotate about perpendicular axes, a pivot bearing through which a proximal end of the arm can be rotatably mounted to a carriage body/support section, and a generator unit which is arranged to be housed in the support section. support/body, is fixed with respect to the arm and depends on the proximal end of the arm/rotation bearing;

Fig. 24 is a schematic plan view of an arrangement of the slewing bearing, the generator unit, a generator unit oil tank, and a position where the arm is connected to the slewing bearing;

Figure 25 is a perspective view showing the generator unit in situ, an additional trolley electric cable retainer which is arranged in a casing of the body/support section below the generator unit, and a removable cover, defining part of the casing, separated from the rest of the casing such that the generator unit and additional retainer;

Figure 26 is a top perspective view of a part of the base of the additional retainer;

Figure 27 is a bottom perspective view of the base part;

Figure 28 is a perspective view from below of a rotating part of the additional retainer;

Figure 29 is a perspective top view of the rotating part; and

Fig. 30 is a perspective top view of a guide part of the additional retainer;

Fig. 31 is a bottom perspective view of the guide part;

Figure 32 is a perspective top view of the additional retainer in the configuration that it assumes in situ and the electrical wiring of the trolley, to which tubular conduit is applied, laid through it;

Figure 33A is a top perspective view of the tubular conduit assuming the configuration thereof shown in Figure 32;

Figure 33B is a top perspective view of the chain conduit that can be used in the retainer instead of the tubular conduit;

Fig. 34 is a plan view showing the arrangement of Fig. 32 in which the rotatable part has been turned counterclockwise to its full extent;

Fig. 35 is a plan view showing the arrangement of Fig. 32 in which the rotating part has been rotated to its full extent in a clockwise direction;

Figure 36 is a bottom perspective view showing details of the arrangement of Figure 32; and the figure

37 shows details of a carriage electrical connection/data transfer/power console.

Detailed description of the preferred embodiment(s) of the invention

In figures 1 and 2 an X-ray cart 1 according to a preferred embodiment of the present invention is shown. The carriage 1 comprises a main body 10, an articulated arm 40, connected at a proximal end thereof to the body 10 to be supported by body 10, and an X-ray tube head 70 which is supported from a distal end of arm 40 through a yoke 45.

The main body 10 includes a chassis 11 and wheels that engage with the ground, on which the chassis 11 rests, the wheels comprising coaxial rear wheels 12, the axis of rotation of which is fixed with respect to the chassis 11, and front wheels 13 defined by rollers. The main body 10 further includes a casing 14, a control console 15 arranged at a rear position in the casing 14, a rearward and upward facing output screen 16 (which, among other things, displays an X-ray image that has been taken over by trolley 1), arranged adjacent and in front of the console, and a charging/data transfer/electrical connection point 17, shown in more detail in figure 37, to which a power cable can be connected. charging in order to charge a power supply on board the carriage 1.

The carriage 1 further includes, with reference to Figures 3 to 5, a pair of side-by-side spaced handle elements 20, each of which is arranged in a rearward position of the carriage 1 on a respective lateral side of the carriage. car. 1. Each element 20 is configured with a first section 21, which projects rearwardly from the body 10, and a second section 22, which projects generally upwards from a rear end of the first section 21, the handle thus having a generally L shaped

Each handle element 20 includes, arranged at an upper end of the second section 22 thereof, a respective bulb- or ball-shaped grip 23 that a person can grasp with one of their respective hands to maneuver the carriage 1 over a surface of ground on which it rests. The exterior of each grip 23 is defined by a fixed portion 24, a palm actuator 25, in a generally rearward position on grip 23, and a finger actuator 26, in a generally forward position on grip 23. Each one of the actuators 25 and 26 is, in the present embodiment, a button and is arranged such that, when pressed, it releases electrically controlled, eg solenoid, brakes on the carriage 1, allowing the carriage to be pushed or pulled 1 along a floor surface on which the cart 1 rests. More particularly, the actuators 25 and 26 form part of a braking system for the cart 1 that is electrically coupled to the power source and configured so that , when any one of those four actuators is depressed, current from the DC power supply flows to one or more solenoids that work to release the brakes that engage the rear wheels 12, overcoming a spring tension which keeps the brakes engaged to the wheels 12 when no current is supplied to the solenoid(s), thus making the brakes "fail safe". Brakes of this type are well known in the art. The actuating buttons 25, 26 of each handle 23 are arranged so that when a person, standing at the rear of the carriage 1 and looking forward, grasps that handle from above, the palm of the hand that grasps it is received. against button 25 and the fingers of that hand are received against button 26. Applying palm and finger pressure to buttons 25 and 26 respectively, for example by squeezing the grip between palm and fingers, causes buttons 25 and 26 are pressed, so that the brakes are released.

Referring to figures 3 and 5, in each handle 23, the two actuators 25 and 26 are centrally and symmetrically arranged around a respective vertical plane V which is substantially orthogonal to the axis of rotation of the wheels 12. The (main) surface of the actuator 25 extends in a longitudinal arc 27 which is arranged in the V plane, a proximal transverse arc 28 and a distal transverse arc 29, the arcs 27, 28 and 29 being arranged in such a way that, when the respective handle is gripped in the manner described above, the longitudinal arch, the proximal arch, and the distal arch, respectively, of the grasping hand. The proximal/rear and distal/front ends of each button 25 are curved such that the surface of button 25 assumes a substantially elliptical, outwardly convex configuration. Referring to Figure 5, the button 26 of each grip 23 is symmetrical and centered about a horizontal plane H which, like plane V, passes through the geometric center of the ball shape of the grip. The button surface 26 extends through a transverse/horizontal arc 31, which lies in the H plane, and extends in an arc 32 which lies in the V plane.

The grips are positioned in such a way that, assuming the person is an adult of average height, his or her forearms will generally be parallel and horizontal when he or she, while standing, grasps the grips with the respective hands and when the tops of the that person's arms are substantially vertical and adjacent respective lateral sides of his or her torso. Advantageously, due to the position and configuration of the buttons 25, 26, the application of palm pressure to either of the grips 23 through the engaging hand (even if none of the fingers of that hand is pressed against the button 26) will inevitably cause the depression of the button 25, which effects the release of the brakes in such a way that the pressure of the palm thus applied causes the cart 1 to be pushed on the ground, and the application of the pressure of the fingers on any of the grips 23 with the engaging hand (regardless of whether the palm of that hand is pressed against the actuator button 25 on that grip) cause the button 26 to be depressed, so that the brakes are disengaged and the finger pressure thus applied stretches the cart 1 over the ground.

Each of the buttons 25 and 26 is arranged so that, in its extended (disengaged) state, it protrudes from the fixed section 24, that is, the surface thereof is radially outward from the surface of an imaginary sphere on which it lies. the outer face of the fixed section 24 is arranged. Each of the buttons 25 and 26 has a stroke such that, when fully depressed, the surface thereof is substantially flush with the surface of the fixed section 24, ie, on the face of the imaginary sphere.

The carriage 1 can be modified so that the height at which each of the handles 23 is placed can be adjusted and/or so that the transverse spacing of the handles 23 can be adjusted and/or so that the angular orientation of each of the handles 23 can be adjusted. the grips 23 can be adjusted.

Also, the actuators can be manually engaged in a different way. For example, they can be touch hoverable (instead of being defined by pushable buttons). To this end, the actuators can be defined, for example, by capacitive sensors that can be activated by being touched by a person's skin.

It is also possible that only one of the two grips 23 is configured with the actuator buttons 25, 26 (the other grip, for example, has an exterior that is substantially fixed all around) so that deactivation of the brakes is based on the person who mates with that particular hilt.

Furthermore, the handles 23 can adopt a different orientation; for example, they may be arranged such that each protrudes laterally outward (rather than upwards) from the upper end of the respective section 22, whereby the person's hands assume a "palms in" orientation. when they grasp the respective grips. In that case, the plane on which the actuators 25 and 26 are centered would be horizontal, instead of being vertical and parallel to the longitudinal axis of the carriage 1.

Also, on each grip 23, any one of the buttons 25 and 26 may constitute the sole actuating button, although it will generally be much more preferable if both buttons are present.

Referring to Figures 12 to 22, the X-ray tube head 70 includes, consistent with conventional X-ray heads, an X-ray source 71 (see Figure 13), which includes an X-ray tube 72 and, rotatable relative to the source 71, an assembly comprising a backscatter shield 80 (see Figure 14) and a collimator 90 ("the shield/collimator assembly"). The X-ray head 70 further comprises a retainer 200, interposed between the source 71 and the shield/collimator assembly, which houses and guides an electrical cable 201 of the carriage, which cable is in the form of a strip, as will be described later. detail later.

Referring to Figures 17 to 19 in particular, the collimator 19, consistent with conventional collimators, comprises an X-ray reflective base plate 91, configured with an opening 92 therethrough, a first pair of X-ray reflective shutters 93, arranged at a lower part of the base plate and movable toward or away from each other along a first axis X, and a second pair of X-ray reflective blanking plates 94, arranged at the upper side of the base plate. base plate 91 and movable, moving towards or away from each other, along a second axis Y, the Y axis being perpendicular to the X axis. Consequently, the dimensions of length and width of an opening 95, defined by the area of the opening 92, uncovered by the plates 93 and 94, are adjustable. The collimator 90 comprises laterally opposed, fang-like projections 96A and 96B, which are connected to and project downward from the base plate 91. The fangs can be gripped so that the position of the head 70 can be adjusted (including by articulating and/or rotating the arm 40 when necessary). Referring also to Fig. 20, each tusk is configured with a generally cylindrical fixed section 97, the upper end of which is attached to the base plate 91, and a generally cylindrical rotary knob 98, disposed at a lower end of the fixed section 97. and rotatable relative to that section. Each tusk further includes an internal shaft 99 (see Figure 20, in which detail of part of the exterior of tusk 96B is omitted to show shaft 99), which passes through fixed section 97 and is it engages, in a lower end portion thereof, by the respective knob 98 (in any suitable manner as will be known by a person skilled in the art). The shaft 99 is fixed at its upper end to a pulley of a respective adjustment mechanism to effect the movement of the pairs of blanking plates 93 and 94, whereby the rotation of the rotating section 98 drives the pulley to effect the movement of the respective plates. Next, the adjustment mechanism will be described.

Figures 17 and 18 show the mechanism 100 for adjusting the plates 93, the mechanism 100 comprising a toothed pulley 101, as mentioned above, rollers 102 and a toothed belt 103 that is guided on pulley 101 and rollers 102. The mechanism 100 includes a first arm 104 attached to one of the plates 93 and a second arm 105 parallel and opposite the first arm 104, and connected to the other plate 93. The mechanism 100 further includes a connector 106 connecting one end of the strap 103 to the arm 104 and a connector 107 that connects the other end of the strap 103 to the arm 105. The mechanism 100 further comprises a third arm 108 that is pivotally connected at one end thereof, through the pivot 109, to a distal end of the arm 104 and extends, between a first of the plates 93, shown on the left in Figures 17 and 18, and the base plate 91, to the proximal end of the arm 105, at which end the arm 108 is connected d and pivoting, through a pivot 110, at its other end. Arm 108 is, at a position between pivots 109 and 110, pivotally connected to base plate 91 via pivot 108A. Mechanism 100 further comprises a fourth arm 111 which is pivotally connected at one end thereof, via pivot 112, to a distal end of arm 105 and extends, between second plate 93, shown to the right in Figures 17 and 18, and the base plate 91, to the proximal end of the arm 104, to which end the arm 111 is pivotally connected, via a pivot 113, at its other end. The arm 111 is, at a position between the pivots 112 and 113, pivotally connected to the base plate 91, through a pivot 111A.

Figure 19 shows the mechanism 120 for adjusting the plates 94, the mechanism 120 comprising a toothed pulley 121, as previously mentioned, rollers 122 and a toothed belt 123 that is guided on the pulley 121 and rollers 122. Mechanism 120 includes a first arm 124 attached to one of the plates 94 and a second arm 125 parallel and opposite first arm 124, and connected to the other plate 94. Mechanism 120 further includes a connector 126 connecting both ends of strap 123 to arm 124. Mechanism 120 further comprises a third arm 128 that is pivotally connected at one end thereof, via pivot 129, to a distal end of arm 124 and extends , between a first of the plates 94, shown at the bottom of Figure 19, and the base plate 91, to the proximal end of the arm 125, to which end the arm 128 is pivotally connected, through of a pivot 130, at its other end. Arm 128 is, at a position between pivots 129 and 130, pivotally connected to base plate 91 via pivot 128A. Mechanism 120 further comprises a fourth arm 131 which is pivotally connected at one end thereof, via pivot 132, to a distal end of arm 125 and extends, between second plate 94, shown at bottom 19, and base plate 91, to the proximal end of arm 124, to which end arm 131 is pivotally connected, via a pivot 133, at its other end. The arm 131 is, at a position between the pivots 132 and 133, pivotally connected to the base plate 91, through a pivot 131A.

Referring to Figure 16, the x-ray head 70 includes a housing structure 76 that is configured with a downwardly facing opening 77 . The shield/collimator assembly includes a circular cover 78, through which the upper ends of the fangs 96A, 96B extend, which is attached to the bottom of the base plate 91, the cover 78 being rotatable, with the remainder of the shield/collimator assembly, about an axis A, shown in Figure 16, in relation to the housing structure 76. The cover 78 protects the mechanism 100 and includes or supports a window 79 that is configured with reticles 79A. The cover 78 and the casing structure 76 define a housing for a main body section of the head. The shield/collimator assembly, referring to Figure 14, includes a light source 81 arranged to emit light through a light intake port (not shown) in a shield side wall 80 such that the shield light is incident on a mirror (also not shown) which is transmissive/transparent to an X-ray beam from the X-ray source 71 disposed within the shield 80 and on the A axis, 45 degrees from a plane normal to that axis, so that the light from the light source 81 is directed through the aperture 95 and from there to the window 79, whereby a projection of the aperture and lattices will be formed on a patient/subject, on the body part of the patient/subject to be radiographed. Disposed at a lower end of the fang 96B, more particularly at the lower part of the adjuster 98 thereof, is a switch 82, which in the present embodiment takes the form of a button, for turning the light source 81 on and off.

The X-ray head 70 is, in keeping with conventional X-ray heads, configured so that an X-ray beam from the X-ray tube/source has a focal point, the position of which is shown by reference numeral 75 in Figure 13, is located on the A axis. In general terms, safety requirements are such that the distance between the focal point and a subject/patient, normally referred to as the "focal point-skin distance", should not be less than one specified minimum value. The X-ray head 70 is configured such that the lower extensions/tips of the fangs 96A and 96B lie in a plane P that is positioned at a perpendicular distance D from the focal point 75, which distance is equal to or very little greater than the aforementioned minimum value, which is normally 30 cm. Advantageously, the fangs 96A and 96b thus define a gauge to ensure that the X-ray head 70 is not placed too close to the subject/patient; more specifically, when the head 70 is oriented next to the subject/patient, over the part of the body to be radiographed, the operator, ensuring that no part of the patient/subject's body, to which the window 79 is oriented, passing through the P-plane, ensures that the distance between the focal point 75 and the patient/subject's body is greater than the minimum space allowed. The operator can use the fangs 96A and 96B as a visual indicator, judging by eye that the body part being radiographed does not protrude through the plane P in the direction of the focal point 75 and/or can move the tip of any or each of the fangs 96A and 96B in contact with the subject/patient, in such a way that a stop is defined, which comprises the fangs 96A and 96B in contact with the subject/patient, preventing the head 70 and, therefore, from , the focal point 75, is positioned closer to the subject/patient.

Advantageously, because the collimator adjusters 98 are arranged on the fangs 96A and 96B, especially on the lower ends of the fangs, which protrude downward away from the housing structure 76, the X-ray head 70 can be arranged more above the subject/patient, leaving the controls 98, 82 within the operator's reach. The operator can thus position the focal point 75 further away from the subject/patient, while maintaining his ability to operate the controls, 98, 82, than if those controls were on or adjacent to the housing 76, so that radiation from the subject /patient the exposure resulting from taking X-rays with the focal point thus positioned is reduced. Conveniently, the operator, after locating the X-ray head 70 in the appropriate position for taking a given radiograph and/or rotating the shield/collimator assembly about the A axis, grasping and manipulating the fangs 96A, 96B (so that window 79 is positioned appropriately for taking a radiograph of the patient/subject), you can activate the light, by manually operating switch 82, and/or adjusting the size of the aperture, by manually operating one or both of the adjusters 98, to set the suitable projection onto the subject/patient, the projection illuminating the frame of the X-ray image to be taken (with the intersection of the projection of the graticules 79A marking the center of that frame).

The backscatter shield 80, shown in more detail in Figures 21 and 22, comprises a roof section 80A, a generally frusto-conical, downwardly diverging side wall section 80B, configured with the aforementioned light-intake port. (not shown), the section of which extends from the roof section 80A and a base section 80C, comprising a rim, at the lower end of the side wall 80B. He Shield 80 further includes ribs 80D disposed at spaced locations around side wall 80B, each rib 80D extending between base 80C and side wall 80B. The backscatter shield 80 is configured with mounting holes 80E, formed through the roof section 80A, and mounting holes 80F, formed through the base 80C, at the corners thereof. The shield 80 further includes a central opening 80G through the roof section 80A, through which an X-ray beam is projected from the X-ray source 71 when in operation, and an opening 80H through the base 80C, through which the beam passes, so that the radiation passes through the aperture 95 and from there to the subject/patient. Referring also to Fig. 13, threaded fasteners 801 are received through respective holes in the base plate 91 and holes 80F in the base of the shield 80C, whereby the former mounts to the latter, so that the collimator assembly hangs or is dependent on the shield 80. The shield 80 thus supports the weight of the collimator assembly 90, the loads exerted on the shield 80 as a result of the transfer of that weight, from the base of the shield 80C to the side wall of the shield 80B through the reinforcements 80D. The shield roof section 80A is attached, with reference to Figure 14, to a rotatable central part of the retainer 200 through threaded fasteners 80J which are passed through respective mounting holes 80E. Collimator assembly 90 is thus suspended from retainer 200 via shield 80, shield 80 in addition to performing its conventional function of absorbing X-ray radiation reflected from and around base plate 91 and blanking plates 93 and 94. , forms a structural or supporting component in the shield/collimator assembly and in the X-ray head 70.

The shield 80 is molded, preferably by injection molding, as a single piece from a composite material comprising tungsten powder and a polymeric binder, such as nylon 12R. One such suitable material is supplied by Ecomass Technologies LP, based in Austin, Texas, under the trade name Ecomass, and is described in detail in the specification and drawings of Australian Patent No. 741567, of which entire content is incorporated herein by reference. Advantageously, the shield 80 is much lighter than it would be if it were made of lead, so the weight of the cart 1 is reduced, since, at a given moment, it is exerted on the chassis as a result of the arm. articulated 40 and the X-ray head 70 which cantilever from the carriage body 10.

Referring now to Figures 23 to 25, carriage 1 includes a pivot bearing 150 which is attached to the exterior of body casing 14 and to which a proximal end of articulated arm 40 is (rotatably) connected, whereby the carriage arm 40 can be rotated manually with respect to body 10 about an axis S. Carriage 1 further comprises a high voltage generator unit 160 which is coupled, at an upper end thereof, to a rotating part of rotation bearing 150 of such that, when the arm 40 rotates, the generator unit 160 rotates with the arm about the axis of the bearing 150. The generator unit 160 is arranged in the body casing 14 and most or all of its weight is leads through slewing bearing 150 into casing 14. Generator unit 160 comprises a casing 161, a high voltage (110 kV) generator contained within the casing/housing 161 and, associated with the generator, a tank 162 Which, in accordance with conventional generator tanks, it contains oil in which a high-voltage connection to the generator is immersed. The casing 161 additionally accommodates other electrical/wiring components (not shown) of the carriage 1. Oil constitutes a significant proportion of the weight of the generator unit 160, and the tank 162, with reference to Figure 24, is eccentric to the axis of rotation S, such that the straight/vertical axis 163 (parallel to the S-axis) in which the unit's center of mass 160 lies diametrically opposite, with respect to the rotation bearing 150/S-axis, to a straight/ vertical 164, also parallel to the axis S, which passes through the position 165 in which the arm 40 is fixed to the rotating part of the rotation bearing 150, so that the mentioned center of mass works as a counterweight to compensate the moment exerted on the body 10/wheels 12, 13 by the cantilever arm 40 and the head 70, so that the resistance to overturning of the carriage 1, as a consequence of that moment, increases.

With reference to figures 25, 32 and 34 to 36, the carriage 1 further comprises a retainer 300, arranged in the casing 14 below the generator unit 160. The retainer 300, with reference also to figures 26 to 31, 33A and 33B (each of which shows components of the retainer 300), comprises a base part 301, a peripheral part 310 that can be interlocked with the base part 301 to be able to rotate with respect to it, and a guide part 320 which can receive the rotating part 310 in order to be able to rotate with respect to it. Referring to Figure 36, carriage 1 includes electrical wiring 350 which extends from head 70, along arm 4, through the central opening in pivot bearing 150 and into casing 14, through of the retainer 300, to a power control board (not shown) located at a rear part of the casing 14. The wiring 350 thus connects the components that are fixed in the casing 14 (comprising the power control board) to the components that can rotate, about the axis of rotation S, relative to the casing 14. The retainer 300 functions to house a section of the wiring that at one end is fixed with respect to the rotating component (i.e., it rotates with that component about axis S), and at the other end it is fixed with respect to the fixed component, and guides that section inside it, during the rotation of the arm 40 around the axis S, protecting that section, even in particular from snags, during rotation of the b reason 40.

The base part 301 comprises a base 302 which, when the retainer 300 is installed, is fixed to a floor in the compartment within the casing 14. More particularly, the base 302 is fixed to the floor by fasteners received through holes of assembly 304 of the same. The base part 301 further comprises a circular bottom section 305, supported on the base 302, the bottom section 305 being configured with an annular projection 306. The base section 301 further comprises a central hub portion 307, open at its ends. upper and lower ends, protruding upwardly from a radially inner part of the floor section 305. An opening 308 is formed through a bushing side wall 307. The base part 301 further comprises L-shaped retainers 309, arranged in their respective corner positions, for sliding engagement with the rotatable part 310, as will be described in more detail shortly. As can be seen in Fig. 27, the base part 301 includes a downwardly projecting peripheral wall portion 301 A, whereby there is a cavity 302A defined to contain part of the wiring 350, as will be described in more detail in brief. The base portion 301 further includes a radially outwardly projecting mouth section 303A defining part of the cavity 302A, the mouth section being arranged to receive a section of wiring adjacent to the position at which it enters/exits from cavity 302A.

Referring in particular to Figures 28 and 29, the rotatable part 310 comprises a circumferential side wall 311 and an annular floor section 312 extending radially inwardly from a lower end of the wall 311. The retainers 309 are elastically flexible, whereby they can be bent radially outward in such a way that the swivel section 310 can be pushed downwards into the base section 301 and the lower part of the annular bottom section of the swivel part 312 thus bears against the bottom section. bottom of the base portion 305 radially outward of the boss 306. Allowing the detents 309 to return to their relaxed positions results in their radially inwardly projecting upper ends being received over an annular edge portion 312A of the section 310, avoiding upward displacement of section 310 with respect to section 301. The casing section 310, thus received by the ba section se 301, can rotate about a vertical axis extending centrally through the opening through the upper part of the hub portion 307, whereby the lower part of the bottom section of the casing part 312 is it slides against the upper face of the bottom section of the base part 305. The peripheral part 310 is further configured with a curved retaining portion 313 which extends radially inward from the wall 311 and upwards from the bottom section 312 and is positioned to slide abut the radially outer circumferential face of guide 320 to help retain guide 320 so that its axis of rotation and the axis of rotation of peripheral member 310 are coaxial.

The guide portion 320 comprises a radially outer circumferential side wall 321, a radially inner circumferential side wall 322, and a plurality of spaced radial ribs 323 interconnecting the walls 321 and 322. The guide portion 320 is configured with a convex vertical face 324 and, spaced apart from and extending substantially parallel to that face, a concave face 325, the faces 324 and 325 defining side faces of a curved channel 326 which, at a radially outer end thereof, opens through the wall 321 and , at a radial end thereof, opens through the wall 322. The guide portion 320 further includes, at a lower end thereof, a downwardly projecting circumferential rib 327, defined by a lower portion projecting downward from the wall 322, having a diameter such that, when the guide part 320 is supported by and coaxial with the floor section 305 of the base part 301, the rib 327 engages with the boss 306, whereby the guide section 320 is rotatably retained in the floor section 305.

The retainer 300 further comprises a conduit 340, configured in the form of a thin, curved tube having a rectangular cross-section, the tube thus assuming substantially, or approaching its dimensions, "strip" proportions. Referring to Figure 32, in assembled retainer 300, conduit 340, with wiring 350 routed therethrough, is placed in the casing defined by rotationally coupled base section 301 and peripheral section 310, whereby there is a conduit/wiring portion 341 extending in a radially inner channel defined between the hub sidewall 307 and the guide inner circumferential wall 322 (a base of which channel is formed by the floor section 305), a portion conduit/wiring 342 extending through channel 326, and a conduit/wiring portion 343 extending through a channel defined between the circumferential side wall of the peripheral portion 311 and the outer circumferential side wall 321 of the guide 320 (a floor of that channel is defined by the annular portion 312 of the peripheral part 310). The retainer 300 includes a connector 344 that fixes, to the hub portion 307, the end of the conduit 341A positioned in the radially inner annular channel, and a connector 345 that fixes, to the peripheral part of the annular side wall 311, the end of the duct 343A which is positioned in the radially outer annular channel, the ends of the duct 341A and 343A thus being fixed with respect to the base part 301 and the peripheral part 310, respectively. The retainer 300 further comprises a retainer 346 which is removably attached to the peripheral part 310 and serves to hold the wiring 350 in place adjacent to a position where it enters the casing defined by the parts 301 and 310, the wiring 350 passes down (as shown by arrow B in Figure 32 ) into an entry section 347 with which the peripheral part 310 is configured. The peripheral part 310 is configured with a tab or projection 348 configured to be attached to the generator casing 161 when the retainer 300 is installed below the generator 160 as shown in Fig. 25, whereby the peripheral part 310 rotates with the casing 161 when the arm 40 rotates. The retainer 300 is dimensioned such that the wiring 350 fits snugly or is confined between the radially opposed walls of the radially inner and outer channels, such that it is radially/laterally reinforced in each of those channels, and, therefore, it cannot buckle in either of those channels, and, furthermore, it fits snugly or is confined between the faces 324 and 325, so that it is laterally braced in the channel defined between those faces, and therefore , also cannot buckle.

Wiring sections 350 extend from inside the retainer housing, through hole 308 in the side wall of the bushing section and center hole 308A through bushing section 307. Figure 32 shows the retainer. in one of two opposite extreme rotational conditions that it can assume. Specifically, the condition shown in Fig. 32 is one in which the peripheral section 310 has been rotated counterclockwise as far as possible with respect to the base section 301, the position shown having been rotated. corresponding to the articulated arm 40 as far as possible in an anti-clockwise direction (viewed from above). Rotation of arm 40 in a clockwise direction imparts clockwise rotation to generator 160 and thus, through tab 348, to the peripheral portion of retainer 310. End 343A The conduit thus rotates, clockwise, with the peripheral part 310, while the end of the conduit 341A remains stationary, with the result that the conduit 340 slides, in a radial inward direction, through of the radial channel 326, the curved (constantly changing) portion 342 thereof thus pushing the concave face of the channel 325 so that the guide part 320 also rotates clockwise, albeit at half speed of rotation of the peripheral part 310.

Wiring 350 may comprise striped cables, as shown, or individual cables side by side.

The conduit, rather than being configured in the form of a flexible/collapsible tube 340, may comprise interconnected hinged sections; for example, it may comprise the chain duct 340' shown in Figures 35 and 36, the chain duct comprising links through which the cabling 350 passes.

Figure 35 shows the "leftmost" position of peripheral part 310, corresponding to Figure 32, while Figure 36 shows the "rightmost" position of peripheral part 310.

It will be noted that, as the peripheral part 310 rotates clockwise, the length of the section 341 that occupies the inner annular channel increases progressively, while the length of the section 343 that occupies the radially radial channel outside is gradually reduced.

Rotation of return arm 40 counterclockwise imparts clockwise rotation to generator 160 and thus, through tab 348, to the peripheral portion of retainer 310. The conduit end 343A thus rotates, counterclockwise, with the peripheral part 310, while the conduit end 341A remains stationary, with the result that the conduit 340 slides, in a radial outward direction, through the channel. radial 326, the (constantly changing) curved portion 342 thereof thus pushing the convex face of the channel 324 in such a way that the guide part 320 also rotates counterclockwise, albeit at half the speed of rotation of the peripheral part 310.

The retainer 200 on the X-ray head 70 is configured accordingly, the fixed and rotating components between which it stands comprise the X-ray source 71 and the screen/collimator assembly respectively, although the wiring in the case of that retainer, defined by the strip cable 201, it is unified so that a conduit of the type used in the retainer 300 is not necessary and it is omitted (the contact of the wiring against the curved faces of the radial channel of the guide part (for turning the part guide) is thus direct). Returning to Figure 14, the corresponding "peripheral portion", shown with reference numeral 210, of retainer 200 is configured with a tab 248 that engages part of a frame structure in which the X-ray source is attached. 71, to hold the peripheral section 201 stationary.

Details of the arm assembly are shown in Figures 6 to 11. The arm 40 in that assembly comprises a proximal arm section 410 and a distal arm section 460. The arm 40 is provided with an outer shell 41 comprising sections movable with respect to one another to allow articulation of the arm, while preventing access to an articulation arrangement that forms part of the arm 40. The articulation arrangement is shown in Figures 7A and 8-11 (details of which are omitted). lining/casing 41).

The proximal arm section includes a first elongated link 411, comprising a carbon fiber element of generally U-shaped cross section, and a second parallel elongated link 412, the proximal ends of each of which are connected to a base 413 of the arm assembly (which base can be fixedly attached to the rotating part of the slewing bearing), through separate pivots 414 and 415 respectively, to be able to pivot about respective parallel axes. The arm 40 further comprises an intermediate link 480 to a proximal end 482 whose distal ends of the links 411, 412 are connected in spaced apart positions, by pivots 416 and 417 respectively, the axes of the pivots 416 and 417 being parallel to the axes of the pivots 414, 415 (and, more particularly, horizontal). The distal arm section 460 also comprises a first elongated link 461, comprising a carbon fiber element of generally U-shaped cross section, and a second parallel elongated link 462, the proximal ends of which are connected to a distal end 484 of the intermediate link on separate pins 466 and 467 respectively. Links 461 and 462 can therefore pivot with respect to intermediate link 480 about respective axes, each of which is parallel to the axes of pivots 414, 415. The arm further includes an end link 490 ( see Figure 9) pivotally connected at one end to a distal end of the link 461 on a pivot 461A and rotatably connected at the other end thereof to a distal end of the second elongated link 462 on a pivot 462A. Referring to Figures 1 and 2, the carriage includes a yoke 500 connected to end link 490, whereby the head can rotate, relative to the distal section of arm 40, about orthogonal axes F and G.

The proximal arm section 410 includes a strain redirector. More particularly, that section includes a link 430 pivotally connected at a proximal end thereof to base section 413, and a collar 431 that is received over link 412 and is pivotally connected to a distal end of link 430. The proximal section 410 further includes a pair of springs 432A and 423B, disposed end to end on the link 412 and between collar 431 and a stop attached to the bottom of link 412. Section 410 further includes a collar 433, which is received over link 412 and is disposed between springs 432A and 423B. When the arm section 410 pivots from a substantially vertical orientation (shown in Figure 7A) toward the axis of rotation S, the collar 431, as seen in Figures 8 and 9, moves toward the proximal end of the arm. link 412, by compressing springs 432A, 432B by which the arm section 410 is pushed, to a progressively increasing degree, against gravity during its pivoting/rotation, by which the proximal section is configured with a stress redirector. As the degree to which arm section 410 has been rotated/pivoted becomes relatively extreme, spring 432A approaches a fully compressed condition and the compression rate of second spring 432B, which is stiffer than spring 432A , increases, the spring 432B thus contributing a relatively large biasing force against the continuous twist/rotation, under gravity, of the arm section 410. Referring to Figures 7A and 9A, the arm section 410 further includes a damper 440, preferably an oil damper, which extends (and remains) parallel to link 412 and is connected at a proximal end thereof, via bracket 441, to the lower end of link 412, and connected at a distal end therefrom, through a support 442, to the collar 431. The damper 440

The carriage 1 of the illustrated example is configured to prevent the arm section 410 from appreciably pivoting in the direction opposite to the generally vertical orientation shown in Figure 7A; for example, it may be configured with a hard stop (not shown) that is arranged to abut section 410 to obstruct such rotation. Alternatively, arm section 410 may pivot appreciably in that opposite direction, in which case proximal arm section 410 will further include an upper spring disposed on link 412 and between collar 431 and a stop attached to a top of link 412. , so that when the arm section 410 pivots/rotates in that opposite direction, the collar 431 moves up along the link 412, to compress the upper spring, so that continued rotation of the proximal section is resisted 410, to an increasing degree as the effect of gravity on that section increases. Lower springs 432A and 432B and collar 431 could, without departing from the invention, be replaced with a single lower spring received on link 412.

The distal arm section 460 also has a corresponding strain redirector. The strain redirector comprises a link 470 pivotally connected, via a pivot 470A, at a proximal end thereof to intermediate link 480, and pivotally connected, via a pivot 470B, at a distal end thereof. to a collar 471 that is received on a shaft 473 that forms part of a first elongated link 461 of the distal arm section. A spring 472 is disposed on the shaft between the collar 471 and a stop attached to a proximal end portion of the shaft 473. Rotation of the distal arm section 460 beyond its orientation (with respect to the proximal arm section 410) shown in Figure 7A, in a direction such that the included angle between the arm sections 410, 460 (shown to be approximately 90 degrees in Figure 7A) is reduced, causes the collar 471 is displaced toward the proximal end of shaft 473 in such a way as to compress spring 472, whereby spring 472 offers a progressively increasing elastic tendency against continued rotation of the distal section of arm 460 under the progressively increasing influence of force. gravity. As a result, the arm 40, with the head 70 attached thereto, is stable in any of the orientations and conditions in which it may be placed when in situ, examples of such orientations/conditions being shown in Figures 6-11.

Due to the arrangement of the link in the arm 40, the orientation of the head about an axis that is parallel to the aforementioned parallel pivot axes of/in the articulated arm (which is a horizontal axis in the present embodiment) can remain constant. when the proximal arm section pivots or rotates with respect to the support section and/or the distal arm section pivots or rotates with respect to the intermediate link, advantageously the cross angle is eliminated.

The proximal and distal arm sections and the intermediate link through which they are interconnected advantageously define a collapsible elbow of the arm, whereby the articulated arm can assume a collapsed condition, in which the proximal and distal arm sections are positioned. , generally in a side-by-side relationship, and an extended condition, in which the proximal and distal arm sections are positioned in generally coaxial relationship and the intermediate link contributes to the reach of the articulated arm.

Although various embodiments of the present invention have been described above, it is to be understood that they have been presented by way of example only, and not by way of limitation. It will be apparent to a person skilled in the relevant art that various changes in shape and detail can be made without departing from the scope of the invention as defined in the appended claims. Thus, the present invention should not be limited by any of the described example embodiments.

Throughout this specification and the claims that follow, unless the context otherwise requires, the word "comprising", and variations such as "comprising" and "comprising", shall be understood to imply the inclusion of a integer or stage or group of stated integers or stages, but not to the exclusion of any other integer or stage or group of integers or stages.

Reference in this specification to any prior publication (or information derived therefrom), or to any known matter, is not, and should not be taken, as an acknowledgment or admission or any form of suggestion that the prior publication (or the information derived from it) or the known matter is part of the common general knowledge in the field of activity to which this memory refers.

Claims (7)

A radiographic imaging apparatus comprising an articulated arm (40) for suspending an X-ray head (70) from a support section (413) of the radiographic imaging apparatus, wherein the support section (413) is configured to be supported on a flat floor surface, and the articulated arm comprises: a proximal arm section (410) comprising a first proximal link (411) and a second proximal link (412), a proximal end of each of which is connected or connectable to the support section (413) of such that the first and second proximal links (411, 412) are pivotable with respect to the support section (413), about respective axes that are parallel to the floor surface when the support section (413) is supported on the ground surface; an intermediate link (480) to which a distal end of each of the first and second proximal links (411, 412) is connected, such that the intermediate link (480) is rotatable, relative to the first and second elongated links about respective axes that are parallel to the axes about which the proximal links (411,412) are pivotal; a distal arm section (460) comprising a first distal link (461) and a second distal link (462), a proximal end of each link being connected to the intermediate link (480) such that the first and second distal links (461,462) are pivotal relative to the intermediate link (480), about respective axes that are parallel to the axes about which the proximal links (411,412) are pivotal, one distal end of each of the distal links being connected (461, 462) or being connectable to the X-ray head (70), through a support (500), so that the support (500) can pivot, in relation to the first and second distal links (461, 462), about respective axes that are parallel to the axes about which the proximal links (411,412) are pivotal, characterized in that a rotational orientation of the bracket (500) about an axis that is parallel to the axes about which the proximal links (411, 412) are pivotal is adapted to remain constant when the proximal arm section (410) is pivoted o rotates with respect to the support section (413) and/or the distal arm section (460) pivots or rotates with respect to the intermediate link (480) on the apparatus; and The bracket (500) is configured to allow rotation of the head (70) relative to the distal ends of the distal links (461, 262) about an axis that is perpendicular to the axes about which the proximal links are pivotal. (411,412) and parallel to the ground surface when the support section (413) is supported on the ground surface. The radiographic imaging apparatus of claim 1, wherein the arm (40) is configured such that the proximal links (411,412) remain parallel when the proximal arm section (410) pivots or rotates relative to it. to the support section (413), and the distal links (461, 462) remain parallel when the distal arm section (460) pivots or rotates with respect to the intermediate link (480). The radiographic imaging apparatus according to claim 1, wherein the distal ends of the proximal links (411, 412) are connected to a proximal end of the intermediate link (480), and the proximal ends of the distal links (461, 462) are connected to a distal end of the intermediate link (480), such that: The intermediate link (480) is pivotable or rotatable with respect to the proximal arm section (410) between a first position, with respect to the proximal arm section (410), in which an intermediate link axis extends from the proximal end of the intermediate link (480) to a distal end of the intermediate link (410) extending transverse to a longitudinal axis of the proximal arm section (410), and a second position, relative to the proximal arm section ( 410), wherein the axis of the intermediate link extends generally parallel to, or in general alignment with, the longitudinal axis of the proximal arm section (410); and The distal arm section (460) can pivot or rotate with respect to the intermediate link (480) between a first position, with respect to the intermediate link (480), in which a longitudinal axis of the distal arm section (460) is extends transverse to the intermediate link axis, and a second position, relative to the intermediate link (480), in which the longitudinal axis of the distal arm section (460) extends generally parallel or in general alignment with the axis of the link intermediate, With which: When the intermediate link (480) and distal arm section (460) assume their first positions, the arm (40) assumes a fully collapsed condition in which the proximal and distal arm sections (410, 460) are generally positioned in relationship side by side; and When the intermediate link (480) and the distal arm section (460) assume their second positions, the arm (40) assumes a fully extended condition in which the proximal and distally (410, 460) are placed in generally coaxial relationship. The radiographic imaging apparatus according to claim 1 or claim 2, wherein the holder (500) is connected to the distal ends of the distal links (461,462). The radiographic imaging apparatus according to any one of the preceding claims, wherein the support (500) is configured to allow rotation of the head (70) with respect to the distal ends of the distal attachments (461,462) about of an axis that is parallel to the axes about which the proximal links can pivot (411,412). The radiographic imaging apparatus according to any of the preceding claims, including ground contact wheels (12, 13) through which the support section (413) can be supported on the ground surface. The radiographic imaging apparatus according to claim 6, which is an X-ray cart.